Surgical Robot Error Handling Across Distributed Controllers
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Solution Overview
Problem
Surgical robotic systems face challenges in effectively handling and propagating errors across components, leading to potential disruptions and malfunctions that affect the entire system.
Innovation Solution
A surgical robotic system with an error handler subsystem that transmits error signals between components, categorizes errors, and coordinates responses such as temporary interruptions or permanent shutdowns, accompanied by notification systems to inform users of prohibited actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If error signals are propagated through the entire surgical robotic system to ensure comprehensive error handling, then system reliability is improved, but device complexity increases due to the need for error handler subsystems in each component
Solution Approach 1:
The error handling system is segmented into distributed error handler subsystems, with each component (control tower, surgical console, robotic arms) having its own error handler. This segmentation allows localized error detection and processing while maintaining system-wide error propagation capability, resolving the contradiction by making the complex system modular and manageable through division into independent error-handling units.
Solution Approach 2:
Error handler subsystems act as intermediary components between individual components and the overall system. Each error handler receives error signals from its associated component, processes them according to predefined protocols, and propagates them to other system components. This intermediary layer simplifies the architecture by providing a standardized interface for error handling across all components.
2Object-affected harmful factors
If short term interruptions are implemented to temporarily disable position control during errors, then system safety is improved, but productivity decreases due to control interruptions
Solution Approach 1:
The error response system dynamically adjusts control modes based on error severity and type. Instead of permanent shutdowns, the system implements time-limited interruptions (e.g., 5-30 seconds) for position control, after which control may be restored if the error condition is resolved. This dynamic response optimizes safety while minimizing productivity impact by adapting the restriction duration to the specific error situation.
Solution Approach 2:
The system employs periodic error assessment during interruption periods, checking whether error conditions persist after predetermined time intervals. If errors are transient and resolved, control may be periodically restored. This periodic evaluation mechanism balances safety requirements with productivity by allowing recovery from temporary errors while maintaining safety restrictions for persistent errors.
3Object-affected harmful factors
If manual bedside control and ergonomic controls are disabled during errors, then system safety is improved, but ease of operation deteriorates
Solution Approach 1:
The error response system applies differentiated control restrictions based on error type and location. Instead of uniformly disabling all manual controls, the system selectively disables specific control functions related to the erroneous component while leaving other controls operational. For example, if a robotic arm encounters an error, manual control of that specific arm may be restricted while other arms and system functions remain accessible, maintaining ease of operation for unaffected areas.
Data Source
AI summary
A surgical robotic system includes: a control tower including a first controller configured to detect a first error associated with the control tower and having a first error handler configured to generate a first error signal based on the first error. The system includes a console coupled to the control tower and including a display, a user input device configured to generate user input, and a mobile cart coupled to the control tower and having a second controller configured to detect a second error associated with the mobile cart and a second error handler configured to generate a second error signal based on the second error. The system includes a robotic arm disposed on the mobile cart and including: a surgical instrument configured to treat tissue and actuatable in response to the user input; and a third controller configured to detect a third error associated with the surgical robotic arm and having a third error handler configured to generate a third error signal based on the third error.